Fig. 8From: Deformation model and experimental evaluation of a contractable and bendable wire-pulling mechanism with embedded soft tubes for a robotic tongueTrajectories in configuration space \(c = [l \quad \theta ]^T\) (top) and task space \(p = [x \quad y]^T\) (bottom) of deformation pattern (a). Each plot represents the mean value of the three times. The error bars represent the standard deviation.Back to article page